CN209224094U - Underwater joint drive module - Google Patents
Underwater joint drive module Download PDFInfo
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- CN209224094U CN209224094U CN201822080612.2U CN201822080612U CN209224094U CN 209224094 U CN209224094 U CN 209224094U CN 201822080612 U CN201822080612 U CN 201822080612U CN 209224094 U CN209224094 U CN 209224094U
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- machine casing
- motor shaft
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Abstract
The utility model relates to a kind of underwater joint drive modules, including electric machine casing, electric machine casing rear end cap, electric machine casing drive end bearing bracket, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, output shaft, harmonic speed reducer, rimless motor, motor shaft, multi-turn incremental encoder and wiring sleeve, rimless motor stator is fixedly clamped in electric machine casing by compression ring, and rimless rotor is fixedly clamped by stator compression ring on motor shaft；Motor shaft rear end is equipped with multi-turn incremental encoder, for detecting motor speed, and motor shaft output is connect with harmonic speed reducer wave producer；Output shaft is connect with harmonic reducer flexible wheel, exports joint torque and revolving speed；Equipped with RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, for detecting joint position on output shaft.The utility model have many advantages, such as compact-sized, failure rate is low, hollow cabling, it can be achieved that joint velocity and position high control precision, hermetically sealed progress pressure compensation oil-filled into joint housing can realize the deep work in full sea.
Description
Technical field
The utility model belongs to underwater robot engineering field, and specifically a kind of underwater joint drive module can answer
Development for underwater kits such as underwater manipulator, underwater driving devices.
Background technique
Motor driven is small, low in energy consumption with volume weight, control precision is high, can realize Quan Haishen operation by pressure compensation
The advantages that, therefore motor driver has broad application prospects in robot engineering field under water.
Due to being in the particular surroundings at deep-sea, underwater driving device requires high pressure resistant, compact-sized etc. require；For
Underwater manipulator requires the demands such as compact-sized, high-precision control, develops reliable performance, compact-sized, can high-precision control
Underwater joint drive module.
Utility model content
In order to meet requirement of the deep-sea particular surroundings to underwater driving device, the purpose of this utility model is to provide one kind
Underwater joint drive module.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes electric machine casing, electric machine casing rear end cap, electric machine casing drive end bearing bracket, single-ring absolute type coding
Device, output shaft, harmonic speed reducer, rimless motor, motor shaft, multi-turn incremental encoder and wiring sleeve, wherein electric machine casing
Rear and front end be connected separately with electric machine casing rear end cap and electric machine casing drive end bearing bracket, the output shaft rotates respectively with motor shaft
It is installed in the space surrounded by electric machine casing, electric machine casing rear end cap and electric machine casing drive end bearing bracket, the wiring sleeve installation
In on electric machine casing rear end cap, and passed through by the output shaft, motor shaft；The rimless motor stator of the rimless motor is pressed in
Electric machine casing inner surface keeps relatively fixed with electric machine casing, and the rimless rotor of the rimless motor drives the motor shaft
Rotation；The harmonic speed reducer steel wheel of the harmonic speed reducer is fixed on electric machine casing, and harmonic speed reducer wave producer is connected to
On motor shaft, the harmonic reducer flexible wheel of the harmonic speed reducer is installed on one end of the output shaft, and the other end of output shaft is set
There is the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of detection joint position；The harmonic speed reducer wave producer is rotated with motor shaft, the motor shaft
It transmits torque on harmonic speed reducer wave producer, torque of the harmonic reducer flexible wheel output after slowing down to output
Axis exports joint torque by the output shaft；The rimless motor is integrated with the coding of the multi-turn increment type for detecting its speed
Device；
Wherein: the two sides of the rimless motor are respectively equipped with rotor compression ring and the stator being connected on electric machine casing compresses
Ring, the rimless motor stator are pressed on electric machine casing by stator compression ring, and the rimless rotor passes through rotor pressure
Tight ring is fixed on motor shaft；
The RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator of the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER is fixed on electric machine casing drive end bearing bracket, the list
The RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor of circle absolute type encoder is fixed on the other end of the output shaft；
The multi-turn incremental encoder stator of the multi-turn incremental encoder is fixed on electric machine casing, the multi-turn increment
The multi-turn incremental encoder rotor of formula encoder is rotated with the motor shaft；
The output shaft is rotatablely installed by cross roller bearing in the space, the cross roller bearing
Side be equipped with the cross roller bearing inner race tightening piece that is fixed on the output shaft；The cross roller bearing
Outer ring and electric machine casing cooperate, and by the electric machine casing drive end bearing bracket pre-tighten, the inner ring of the cross roller bearing
It is pre-tightened by cross roller bearing inner race tightening piece；
The motor shaft by motor shaft fore bearing and the rotational installation of motor shaft rear bearing in the space, the motor shaft
The side of rear bearing is equipped with the bearing washer being set on motor shaft；Match with electric machine casing the outer ring of the motor shaft fore bearing
It closes, the inner ring of the motor shaft fore bearing and the motor shaft cooperate；The outer ring and electric machine casing rear end of the motor shaft rear bearing
Lid cooperation, the inner ring of the motor shaft rear bearing and the motor shaft cooperate, and are pre-tightened by the bearing washer；
The electric machine casing is divided into A sections of electric machine casing, B sections of electric machine casing and C sections of electric machine casing, A sections of electric machine casing with
Stator compression ring, the electric machine casing rear end cap, A sections of electric machine casing, stator compression ring, motor are equipped between B sections of electric machine casing
B sections of shell, C sections of electric machine casing and electric machine casing drive end bearing bracket, which successively fasten, to be connected；
Boss is equipped in the middle part of electric machine casing A sections of the inner surface, the outer ring of the rimless motor stator is secured in a press
On the boss；The harmonic speed reducer steel wheel of the harmonic speed reducer is coaxially fixed on electric machine casing B sections of the side；
The motor shaft, harmonic speed reducer and output shaft are hollow structure, are passed through for the wiring sleeve, the wiring sleeve
Pipe is also hollow structure, provides cable tray for previous drive module；
The end of the output shaft other end is along the circumferential direction evenly equipped with multiple screw threads to driven member output torque
Hole.
The advantages of the utility model and good effect are as follows:
1. performance is stablized: the utility model applies harmonic speed reducer transmission, and harmonic speed reducer has bearing capacity high, passes
Dynamic precision is high, transmission efficiency is high, the advantages that running smoothly.
2. compact-sized: the utility model is small using rimless motor and bearing axial dimension, with harmonic speed reducer height collection
At greatly reducing axial dimension.
3. the utility model can realize high-precision double-closed-loop control, motor side is integrated with multi-turn incremental encoder, is used for
Motor speed information is fed back, output end is integrated with RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, for feeding back joint position information, two kinds of encoders
With very high precision.
4. the components such as motor, encoder that the utility model is selected can in Quan Haishen pressure oil liquid environment work
Make, into joint housing, oil-filled progress pressure compensation can work joint drive module sealing envelope account in Quan Haishen environment.
5. the utility model is debugged, is easy to maintain.
Detailed description of the invention
Fig. 1 is the internal structure cross-sectional view of the utility model；
Wherein: 1 be electric machine casing rear end cap, 2 be electric machine casing A section, 3 be stator compression ring, 4 be electric machine casing B sections, 5
It is C sections of electric machine casing, 6 be electric machine casing drive end bearing bracket, and 7A is RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator, and 7B is single-ring absolute type coding
Device rotor, 8 be output shaft, and 9 be cross roller bearing inner race tightening piece, and 10 be cross roller bearing, and 11A is humorous
Wave retarder steel wheel, 11B are harmonic speed reducer generator, and 11C is harmonic reducer flexible wheel, and 12 be motor shaft fore bearing, and 13A is
Rimless motor stator, 13B are rimless rotor, and 14 be motor shaft, and 15 be cushion block, and 16A is multi-turn incremental encoder rotor,
16B is multi-turn incremental encoder stator, and 17 be motor shaft rear bearing, and 18 be wiring sleeve, and 19 be rotor compression ring, and 20 are
Bearing washer, 21 be threaded hole.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, the utility model includes electric machine casing, electric machine casing rear end cap 1, electric machine casing drive end bearing bracket 6, individual pen
Absolute type encoder, output shaft 8, harmonic speed reducer, rimless motor, motor shaft 14, multi-turn incremental encoder and wiring sleeve
18, wherein the rear and front end of electric machine casing is connected separately with electric machine casing rear end cap 1 and electric machine casing drive end bearing bracket 6, output shaft 8 with
Motor shaft 14 is rotatablely installed respectively in the space surrounded by electric machine casing, electric machine casing rear end cap 1 and electric machine casing drive end bearing bracket 6
Interior, wiring sleeve 18 is installed on electric machine casing rear end cap 1, and is passed through by output shaft 8, motor shaft 14；Rimless motor it is rimless
Motor stator 13A is pressed in electric machine casing inner surface, keeps relatively fixed, the rimless motor of the rimless motor with electric machine casing
Rotor 13A drive motor shaft 14 rotates；The harmonic speed reducer steel wheel 11A of harmonic speed reducer is connected on electric machine casing, and harmonic wave subtracts
Fast device wave producer 11B is connected on motor shaft 14, and the harmonic reducer flexible wheel 11C of the harmonic speed reducer is installed on output shaft 8
One end, and export joint drive module torque, the other end of output shaft 8 is equipped with the single-ring absolute type coding of detection joint position
Device.Rimless motor is integrated with the multi-turn incremental encoder for detecting its speed.Motor shaft 14, harmonic speed reducer and output shaft
8 be hollow structure, is passed through for wiring sleeve 18；The wiring sleeve 18 is also hollow structure, is provided for previous drive module
Cable tray.The end of 8 other end of output shaft is along the circumferential direction evenly equipped with multiple threaded holes 21, can be by threaded hole 21 to being driven
Dynamic component output torque.
The electric machine casing of the utility model is divided into electric machine casing A section 2, electric machine casing B section 4 and electric machine casing C section 5, in electricity
Stator compression ring 3, electric machine casing rear end cap 1, electric machine casing A section 2, stator are equipped between casing body A section 2 and electric machine casing B section 4
Compression ring 3, electric machine casing B section 4, electric machine casing C section 5 and electric machine casing drive end bearing bracket 6 are successively fastenedly connected.In electric machine casing B section 4
It is fixed with harmonic speed reducer steel wheel 11A, motor shaft 14 and harmonic speed reducer wave producer 11B tightening connection, is harmonic speed reducer
Input torque.
The two sides of rimless motor are respectively equipped with rotor compression ring 19 and stator compression ring 3, and it is fixed that rimless motor stator 13A passes through
Sub- compression ring 3 is pressed in electric machine casing A section 2, and rimless rotor 13B is fixed by rotor compression ring 19 in motor shaft
On 14.Boss is equipped in the middle part of the inner surface of electric machine casing A section 2, the outer ring of rimless motor stator 13A passes through stator compression ring 3
It is pressed abd fixed on the boss.14 outmost turns left end of motor shaft and rotor compression ring 19 are used cooperatively, for being fixed nothing
Frame rotor 13B, rimless rotor 13B are transmitted torque on motor shaft 14.
The RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator 7A of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER is fixed on electric machine casing drive end bearing bracket 6, the list
The RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor 7B of circle absolute type encoder is fixed on the other end of output shaft 8.RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER
The inner ring and 8 coaxial cooperation of output shaft of rotor 7A, the outer ring of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator 7B and electric machine casing drive end bearing bracket 6
Coaxial line cooperation, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER feed back joint position information.
The multi-turn incremental encoder stator 16B of multi-turn incremental encoder is fixed in electric machine casing A section 2, the multi-turn
The multi-turn incremental encoder rotor 16A of incremental encoder is fixed on rotor compression ring 19, and is rotated with motor shaft 14.It is more
Enclose inner ring and the concentric cooperation of rotor compression ring 19 of incremental encoder rotor 16A, multi-turn incremental encoder stator 16B
Outer ring and the concentric cooperation of electric machine casing A section 2, multi-turn incremental encoder feedback motor rotational shaft speed information.
The rimless motor, multi-turn incremental encoder and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of the utility model can be in the deep oil in full sea
Pressure ring works in border.
Output shaft 8 is rotatablely installed by cross roller bearing 10 and is rotatablely connected in space, with electric machine casing C section 5,
The side of the cross roller bearing 10 is equipped with the cross roller bearing inner race tightening piece 9 being fixed on output shaft 8.Ten
The outer ring of word crossed roller bearing 10 and electric machine casing C section 5 cooperate, and are pre-tightened by electric machine casing drive end bearing bracket 6, right-angled intersection
The inner ring of roller bearing 10 is pre-tightened by cross roller bearing inner race tightening piece 9.
Motor shaft 14 by motor shaft fore bearing 12 and the rotational installation of motor shaft rear bearing 17 in space, motor shaft front axle
It holds 12 to be rotatablely connected with electric machine casing B section 4, motor shaft rear bearing 17 and electric machine casing rear end cap 1 are rotatablely connected.Motor shaft rear axle
The side for holding 17 is equipped with the bearing washer 20 being set on motor shaft 14.The outer ring of motor shaft fore bearing 12 and electric machine casing B section 4
Cooperation, the inner ring of the motor shaft fore bearing 12 and the right end of motor shaft 14 cooperate；The outer ring of motor shaft rear bearing 17 and motor casing
Body rear end cap 1 cooperates, and the inner ring of the motor shaft rear bearing 17 and the left end of motor shaft 14 cooperate, and pre- by bearing washer 20
Tightly.The motor shaft 14 of the utility model be multi-diameter shaft, from left to right successively with motor shaft rear bearing 17, bearing washer 20, rotor
Compression ring 19, cushion block 15, rimless rotor 13B, motor shaft fore bearing 12, harmonic speed reducer wave producer 11B is concentric matches
It closes.The motor front axle of the utility model hold 12 and motor shaft rear bearing 17 be deep groove ball bearing.
The RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of the utility model is commercial products, is purchased in Israel NetZer (Nei Ceer) public affairs
Department, model VLX-60；Harmonic speed reducer is commercial products, purchases the harmonic drive Science and Technology Ltd. green in Suzhou, model
For LCD-17-XXX-P-I；Rimless motor is commercial products, is purchased in Hebei Yu Jie motor Science and Technology Ltd., model
TBSM60-13A50；Multi-turn incremental encoder is commercial products, purchases the RLS company in Slovenia, model
MB064。
The working principle of the utility model are as follows:
Joint drive is carried out using rimless motor and harmonic speed reducer mode, rimless motor stator 13A is fixed clampingly to electricity
In casing body, rimless rotor 13B is fixed clampingly to output torque on motor shaft 14.14 torque transfer of motor shaft is to harmonic wave
On retarder wave producer 11B, harmonic reducer flexible wheel 11C exports torque after slowing down, harmonic reducer flexible wheel 11C and defeated
Shaft 8 is fastenedly connected, and output shaft 8 exports joint torque.Rimless 13 rear end of motor is integrated with multi-turn incremental encoder, for examining
Survey rimless 13 speed of motor；Output shaft 8 is integrated with RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER 7, for detecting joint position.
The utility model has stable, compact-sized, the achievable high-precision double-closed-loop control of performance, can be in hyperbaric environment
The advantages that work, debugging maintenance facilitate.Harmonic speed reducer transmission is applied in the utility model, harmonic speed reducer has carrying energy
Power is high, and high transmission accuracy, transmission efficiency are high, the advantages that running smoothly；The utility model uses rimless motor and bearing axial direction ruler
It is very little small, it is highly integrated with harmonic speed reducer, greatly reduce axial dimension；The motor side of the utility model is integrated with multi-turn increment type
Encoder, for feeding back motor speed information, output end is integrated with RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, for feeding back joint position letter
Breath, two kinds of encoders have very high precision；The components such as motor, the encoder that the utility model is selected can be in Quan Haishen
It works in pressure oil liquid environment, for joint drive module sealing envelope account into joint housing, oil-filled progress pressure compensation can be in Quan Hai
It works in deep environment.
Claims (10)
1. a kind of underwater joint drive module, it is characterised in that: including electric machine casing, electric machine casing rear end cap (1), electric machine casing
Drive end bearing bracket (6), RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, output shaft (8), harmonic speed reducer, rimless motor, motor shaft (14), multi-turn increment
Formula encoder and wiring sleeve (18), wherein the rear and front end of electric machine casing is connected separately with electric machine casing rear end cap (1) and electricity
Casing body drive end bearing bracket (6), the output shaft (8) and motor shaft (14) are rotatablely installed respectively after by electric machine casing, electric machine casing
In the space that end cap (1) and electric machine casing drive end bearing bracket (6) surround, the wiring sleeve (18) is installed on electric machine casing rear end cap
(1) it on, and is passed through by the output shaft (8), motor shaft (14)；The rimless motor stator (13A) of the rimless motor is pressed in
Electric machine casing inner surface keeps relatively fixed with electric machine casing, and the rimless rotor (13B) of the rimless motor drives the electricity
Arbor (14) rotation；The harmonic speed reducer steel wheel (11A) of the harmonic speed reducer is fixed on electric machine casing, harmonic speed reducer wave
Generator (11B) is connected on motor shaft (14), and the harmonic reducer flexible wheel (11C) of the harmonic speed reducer is installed on the output
One end of axis (8), the other end of output shaft (8) are equipped with the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of detection joint position；The harmonic reduction
Device wave producer (11B) is rotated with motor shaft (14), which transmits torque to harmonic speed reducer wave producer
On (11B), torque of harmonic reducer flexible wheel (11C) output after slowing down passes through the output shaft (8) to output shaft (8)
Export joint torque；The rimless motor is integrated with the multi-turn incremental encoder for detecting its speed.
2. underwater joint drive module according to claim 1, it is characterised in that: the two sides of the rimless motor are set respectively
The stator compression ring (3) for having rotor compression ring (19) and being connected on electric machine casing, it is fixed that the rimless motor stator (13A) passes through
Sub- compression ring (3) is pressed on electric machine casing, the rimless rotor (13B) by rotor compression ring (19) be fixed in
On motor shaft (14).
3. underwater joint drive module according to claim 1, it is characterised in that: the list of the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER
Circle absolute type encoder stator (7A) is fixed on electric machine casing drive end bearing bracket (6), and the individual pen of the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER is absolute
Formula encoder rotor (7B) is fixed on the other end of the output shaft (8).
4. underwater joint drive module according to claim 1, it is characterised in that: the multi-turn incremental encoder it is more
Circle incremental encoder stator (16B) is fixed on electric machine casing, the multi-turn incremental encoder of the multi-turn incremental encoder
Rotor (16A) is rotated with the motor shaft (14).
5. underwater joint drive module according to claim 1, it is characterised in that: the output shaft (8) is handed over by cross
Roller bearing (10) rotational installation is pitched in the space, the side of the cross roller bearing (10) is described equipped with being fixed in
Cross roller bearing inner race tightening piece (9) on output shaft (8)；The outer ring of the cross roller bearing (10) and electricity
The cooperation of casing body, and pre-tightened by the electric machine casing drive end bearing bracket (6), the inner ring of the cross roller bearing (10) passes through
Cross roller bearing inner race tightening piece (9) pre-tightens.
6. underwater joint drive module according to claim 1, it is characterised in that: the motor shaft (14) passes through motor shaft
In in the space, the side of the motor shaft rear bearing (17) is equipped with for fore bearing (12) and motor shaft rear bearing (17) rotational installation
The bearing washer (20) being set on motor shaft (14)；The outer ring of the motor shaft fore bearing (12) and electric machine casing cooperate, should
The inner ring of motor shaft fore bearing (12) and the motor shaft (14) cooperate；The outer ring of the motor shaft rear bearing (17) and motor casing
Body rear end cap (1) cooperation, the inner ring of the motor shaft rear bearing (17) and the motor shaft (14) cooperate, and pass through the bearing gasket
(20) are enclosed to pre-tighten.
7. underwater joint drive module according to claim 1, it is characterised in that: the electric machine casing is divided into electric machine casing
A sections (2), B sections of electric machine casing (4) and C sections of electric machine casing (5), set between A sections of electric machine casing (2) and B sections of electric machine casing (4)
Have stator compression ring (3), the electric machine casing rear end cap (1), A sections of electric machine casing (2), stator compression ring (3), electric machine casing B
Section (4), C sections of electric machine casing (5) and electric machine casing drive end bearing bracket (6), which successively fasten, to be connected.
8. underwater joint drive module according to claim 7, it is characterised in that: the interior table of electric machine casing A sections (2)
Middle face is equipped with boss, and the outer ring of the rimless motor stator (13A) is pressed abd fixed on the boss；The harmonic speed reducer
Harmonic speed reducer steel wheel (11A) be coaxially fixed on the side of electric machine casing B sections (4).
9. underwater joint drive module according to claim 1, it is characterised in that: the motor shaft (14), harmonic reduction
Device and output shaft (8) are hollow structure, are passed through for the wiring sleeve (18), which is also hollow structure,
Cable tray is provided for previous drive module.
10. underwater joint drive module according to claim 1, it is characterised in that: the end of output shaft (8) other end
Portion is along the circumferential direction evenly equipped with multiple threaded holes (21) to driven member output torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822080612.2U CN209224094U (en) | 2018-12-11 | 2018-12-11 | Underwater joint drive module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822080612.2U CN209224094U (en) | 2018-12-11 | 2018-12-11 | Underwater joint drive module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209224094U true CN209224094U (en) | 2019-08-09 |
Family
ID=67507239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822080612.2U Active CN209224094U (en) | 2018-12-11 | 2018-12-11 | Underwater joint drive module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209224094U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
| CN111300476A (en) * | 2018-12-11 | 2020-06-19 | 中国科学院沈阳自动化研究所 | Underwater joint driving module |
-
2018
- 2018-12-11 CN CN201822080612.2U patent/CN209224094U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300476A (en) * | 2018-12-11 | 2020-06-19 | 中国科学院沈阳自动化研究所 | Underwater joint driving module |
| CN111300476B (en) * | 2018-12-11 | 2024-07-16 | 中国科学院沈阳自动化研究所 | Underwater joint driving module |
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
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